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On Sensor-Controlled Robotized One-off Manufacturing

Cederberg, Per LU (2004)
Abstract
A semi-automatic task oriented system structure has been developed and tested on an arc welding application. In normal industrial robot programming, the path is created and the process is based upon the decided path. Here a process-oriented method is proposed instead. It is natural to focus on the process, since the path is in reality a result of process needs. Another benefit of choosing process focus, is that it automatically leads us into task oriented thoughts, which in turn can be split in sub-tasks, one for each part of the process with similar process-characteristics. By carefully choosing and encapsulating the information needed to execute a sub-task, this component can be re-used whenever the actual subtask occurs.

... (More)
A semi-automatic task oriented system structure has been developed and tested on an arc welding application. In normal industrial robot programming, the path is created and the process is based upon the decided path. Here a process-oriented method is proposed instead. It is natural to focus on the process, since the path is in reality a result of process needs. Another benefit of choosing process focus, is that it automatically leads us into task oriented thoughts, which in turn can be split in sub-tasks, one for each part of the process with similar process-characteristics. By carefully choosing and encapsulating the information needed to execute a sub-task, this component can be re-used whenever the actual subtask occurs.



By using virtual sensors and generic interfaces to robots and sensors, applications built upon the system design do not change between simulation and actual shop floor runs. The system allows a mix of real- and simulated components during simulation and run-time. (Less)
Abstract (Swedish)
Popular Abstract in Swedish

En semiautomatiskt uppgiftsorienterad (eng. task oriented) systemstruktur har utvecklats och testats i en svetsapplikation. I normal industriell robotprogrammering skapas verktygsvägar varefter tillverkningsprocessen baseras på den väg som fastslagits. Här föreslås istället en processorienterad metod. Det är naturligt att fokusera på processen eftersom verktygsvägen egentligen är ett resultat av processbehovet. En annan fördel med att välja processfokus är att det automatiskt leder till ett uppgiftsorienterat synsätt, där uppgiften i sin tur kan delas in i deluppgifter, en för varje del i processen med liknande processbehov. Genom att noggrant välja och kapsla in den information som behövs för... (More)
Popular Abstract in Swedish

En semiautomatiskt uppgiftsorienterad (eng. task oriented) systemstruktur har utvecklats och testats i en svetsapplikation. I normal industriell robotprogrammering skapas verktygsvägar varefter tillverkningsprocessen baseras på den väg som fastslagits. Här föreslås istället en processorienterad metod. Det är naturligt att fokusera på processen eftersom verktygsvägen egentligen är ett resultat av processbehovet. En annan fördel med att välja processfokus är att det automatiskt leder till ett uppgiftsorienterat synsätt, där uppgiften i sin tur kan delas in i deluppgifter, en för varje del i processen med liknande processbehov. Genom att noggrant välja och kapsla in den information som behövs för att utföra en deluppgift, kan en sådan komponent återanvändas när helst den aktuella deluppgiften uppstår.



Genom att använda virtuella sensorer och generiska gränssnitt till robotar och sensorer kan applikationer som byggs med systemstrukturen förbli oförändrade mellan simulering och verkliga körningar i arbetscellen. Systemet tillåter en blandning av verkliga och simulerade komponenter under körning. (Less)
Please use this url to cite or link to this publication:
author
supervisor
opponent
  • Prof. Lennartson, Bengt, Chalmers, Gothenburg, Sweden
organization
publishing date
type
Thesis
publication status
published
subject
keywords
one-off manufacturing, arc welding, world model, real-time, task-oriented programming, simulation, control, robotics, sensor, Automation, control engineering, Automatiska system, robotteknik, reglerteknik
pages
123 pages
publisher
Robotics
defense location
Maskinteknik, Sal M:E, Lund Institute of Technology
defense date
2004-12-08 10:15:00
external identifiers
  • other:ISRN: LUTMDN/(TMMV-1058)/1-78/(2004)
ISBN
91-628-6289-8
language
English
LU publication?
yes
additional info
The information about affiliations in this record was updated in December 2015. The record was previously connected to the following departments: Robotics (ceased) (LUR000026)
id
30f35d9b-9a67-4586-af09-d0fcd04e8bf1 (old id 21727)
date added to LUP
2016-04-04 10:43:44
date last changed
2025-04-04 14:41:52
@phdthesis{30f35d9b-9a67-4586-af09-d0fcd04e8bf1,
  abstract     = {{A semi-automatic task oriented system structure has been developed and tested on an arc welding application. In normal industrial robot programming, the path is created and the process is based upon the decided path. Here a process-oriented method is proposed instead. It is natural to focus on the process, since the path is in reality a result of process needs. Another benefit of choosing process focus, is that it automatically leads us into task oriented thoughts, which in turn can be split in sub-tasks, one for each part of the process with similar process-characteristics. By carefully choosing and encapsulating the information needed to execute a sub-task, this component can be re-used whenever the actual subtask occurs.<br/><br>
<br/><br>
By using virtual sensors and generic interfaces to robots and sensors, applications built upon the system design do not change between simulation and actual shop floor runs. The system allows a mix of real- and simulated components during simulation and run-time.}},
  author       = {{Cederberg, Per}},
  isbn         = {{91-628-6289-8}},
  keywords     = {{one-off manufacturing; arc welding; world model; real-time; task-oriented programming; simulation; control; robotics; sensor; Automation; control engineering; Automatiska system; robotteknik; reglerteknik}},
  language     = {{eng}},
  publisher    = {{Robotics}},
  school       = {{Lund University}},
  title        = {{On Sensor-Controlled Robotized One-off Manufacturing}},
  url          = {{https://lup.lub.lu.se/search/files/5607953/1472240.pdf}},
  year         = {{2004}},
}